Bhagavad Gita - Chapter 6 - Verse 20-23

yatroparamate cittam niruddham yoga-sevaya
yatra caivatmanatmanam pashyann atmani tushyati
sukham atyantikam yat tad buddhi-grahyam atindriyam
vetti yatra na caivayam sthitash calati tattvatah
yam labdhva caparam labham manyate nadhikam tatah
yasmin sthito na duhkhena gurunapi vicalyate
tam vidyad duhkha-samyoga-viyogam yogasanjnitam
sa nishcayena yoktavyo yogo’nirvinna-cetasa

Translation: 

When the mind is restrained and peaceful by the practice of yoga, it becomes detached from material desires. Thus one can perceive the self and attain happiness. Being situated in this plane of eternal bliss, which is beyond the scope of the mundane senses and obtained through intelligence, one never deviates from reality. Upon gaining this position, one considers that there is nothing superior to this and does not become disturbed even in the midst of the greatest calamities. You should know that this state of being, wherein all miseries are destroyed, is known as yoga.

Translation: 

Traditional Bhagavad Gita Sanskrit ChantingTRADITIONAL BHAGAVAD GITA SANSKRIT CHANTING 
(Now available in digital downloadable format)
By: Chandrashekhara Paranjape & Arun Ramachandramurthy

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1. Nyasa & Dhyanam 
2. Chapters 1- 18 
3. Gita Mahatmya

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